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dc.contributor.author | Gracia Calandin, Luis Ignacio![]() |
es_ES |
dc.contributor.author | Sala Piqueras, Antonio![]() |
es_ES |
dc.contributor.author | Garelli, Fabricio![]() |
es_ES |
dc.date.accessioned | 2015-05-11T07:31:12Z | |
dc.date.available | 2015-05-11T07:31:12Z | |
dc.date.issued | 2014-02 | |
dc.identifier.issn | 0736-5845 | |
dc.identifier.uri | http://hdl.handle.net/10251/49990 | |
dc.description.abstract | In this work, an approach based on task-priority redundancy resolution and sliding mode ideas is proposed for robot coordination. In particular, equality and inequality constraints representing the coordination of the multi-robot system are considered as mandatory (for instance, rigid-body manipulation constraints to distance between the end-effectors of several robot arms, or other inequality constraints guaranteeing safe operation of a robotic swarm or confining the robot's workspace to avoid collision and joint limits). Besides the mandatory constraints, other constraints with lower priority are considered for the tracking of the workspace reference and to achieve secondary goals. Thus, lower-priority constraints are satisfied only in the null space of the higherpriority ones. The fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The validity and effectiveness of the proposed approach is substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively. | es_ES |
dc.description.sponsorship | This work was supported in part by research under Project DPI2011-27845-C02-01 of the Spanish Government and Projects ANPCyT PICT-2011-0888, CONICET PIP 112-2011-00361 and UNLP 1164 in Argentina. | en_EN |
dc.language | Inglés | es_ES |
dc.publisher | Elsevier | es_ES |
dc.relation.ispartof | Robotics and Computer-Integrated Manufacturing | es_ES |
dc.rights | Reserva de todos los derechos | es_ES |
dc.subject | Multi-robot systems | es_ES |
dc.subject | Cooperative robots | es_ES |
dc.subject | Robot control | es_ES |
dc.subject | Collision avoidance | es_ES |
dc.subject.classification | INGENIERIA DE SISTEMAS Y AUTOMATICA | es_ES |
dc.title | Robot coordination using task-priority and sliding-mode techniques | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.1016/j.rcim.2013.08.003 | |
dc.relation.projectID | info:eu-repo/grantAgreement/MICINN//DPI2011-27845-C02-01/ES/ESTIMACION, OPTIMIZACION Y CONTROL MULTIVARIABLE EN SISTEMAS MULTI-MODELO/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/ANPCyT//PICT-2011-0888/AR/Sistemas conmutados de control. Aplicación al control de procesos y sistemas con restricciones/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/UNLP//I164 / | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/CONICET//PIP 112-2011-00361/ | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica | es_ES |
dc.description.bibliographicCitation | Gracia Calandin, LI.; Sala Piqueras, A.; Garelli, F. (2014). Robot coordination using task-priority and sliding-mode techniques. Robotics and Computer-Integrated Manufacturing. 30(1):74-89. https://doi.org/10.1016/j.rcim.2013.08.003 | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | http://dx.doi.org/10.1016/j.rcim.2013.08.003 | es_ES |
dc.description.upvformatpinicio | 74 | es_ES |
dc.description.upvformatpfin | 89 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 30 | es_ES |
dc.description.issue | 1 | es_ES |
dc.relation.senia | 254440 | |
dc.contributor.funder | Ministerio de Ciencia e Innovación | es_ES |
dc.contributor.funder | Agencia Nacional de Promoción Científica y Tecnológica, Argentina | es_ES |